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<div class="title">lccp_segmentation.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2014-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_SEGMENTATION_LCCP_SEGMENTATION_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_SEGMENTATION_LCCP_SEGMENTATION_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_base.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/segmentation/supervoxel_clustering.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_LCCPSegmentation(T) template class PCL_EXPORTS pcl::LCCPSegmentation&lt;T&gt;;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;{</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_c_c_p_segmentation.html">   59</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html">LCCPSegmentation</a></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  {</div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="structpcl_1_1_l_c_c_p_segmentation_1_1_edge_properties.html">   62</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1_l_c_c_p_segmentation_1_1_edge_properties.html">EdgeProperties</a></div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    {</div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="structpcl_1_1_l_c_c_p_segmentation_1_1_edge_properties.html#a1bd0d5ead3de76d2c8a176efd2487970">   65</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="structpcl_1_1_l_c_c_p_segmentation_1_1_edge_properties.html#a1bd0d5ead3de76d2c8a176efd2487970">normal_difference</a>;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      </div>
<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="structpcl_1_1_l_c_c_p_segmentation_1_1_edge_properties.html#a2019dc002e81da842dbdc308d8f65a94">   68</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="structpcl_1_1_l_c_c_p_segmentation_1_1_edge_properties.html#a2019dc002e81da842dbdc308d8f65a94">is_convex</a>;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      </div>
<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="structpcl_1_1_l_c_c_p_segmentation_1_1_edge_properties.html#a5e7a249bef617250c7e0ada74af413a4">   71</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="structpcl_1_1_l_c_c_p_segmentation_1_1_edge_properties.html#a5e7a249bef617250c7e0ada74af413a4">is_valid</a>;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      </div>
<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="structpcl_1_1_l_c_c_p_segmentation_1_1_edge_properties.html#a9dd633d8da9ebedceae89d3361359d77">   74</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="structpcl_1_1_l_c_c_p_segmentation_1_1_edge_properties.html#a9dd633d8da9ebedceae89d3361359d77">used_for_cutting</a>;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <a class="code" href="structpcl_1_1_l_c_c_p_segmentation_1_1_edge_properties.html">EdgeProperties</a> () :</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      <a class="code" href="structpcl_1_1_l_c_c_p_segmentation_1_1_edge_properties.html#a1bd0d5ead3de76d2c8a176efd2487970">normal_difference</a> (0), <a class="code" href="structpcl_1_1_l_c_c_p_segmentation_1_1_edge_properties.html#a2019dc002e81da842dbdc308d8f65a94">is_convex</a> (false), <a class="code" href="structpcl_1_1_l_c_c_p_segmentation_1_1_edge_properties.html#a5e7a249bef617250c7e0ada74af413a4">is_valid</a> (false), <a class="code" href="structpcl_1_1_l_c_c_p_segmentation_1_1_edge_properties.html#a9dd633d8da9ebedceae89d3361359d77">used_for_cutting</a> (false) </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      {</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      }</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    };</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="comment">// Adjacency list with nodes holding labels (uint32_t) and edges holding EdgeProperties.</span></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> boost::adjacency_list&lt;boost::setS, boost::setS, boost::undirectedS, uint32_t, EdgeProperties&gt; SupervoxelAdjacencyList;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> boost::graph_traits&lt;SupervoxelAdjacencyList&gt;::vertex_iterator VertexIterator;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> boost::graph_traits&lt;SupervoxelAdjacencyList&gt;::adjacency_iterator AdjacencyIterator;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> boost::graph_traits&lt;SupervoxelAdjacencyList&gt;::vertex_descriptor VertexID;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> boost::graph_traits&lt;SupervoxelAdjacencyList&gt;::edge_iterator EdgeIterator;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> boost::graph_traits&lt;SupervoxelAdjacencyList&gt;::out_edge_iterator OutEdgeIterator;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> boost::graph_traits&lt;SupervoxelAdjacencyList&gt;::edge_descriptor EdgeID;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html">LCCPSegmentation</a> ();</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      <span class="keyword">virtual</span></div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      ~<a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html">LCCPSegmentation</a> ();</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#af5a6ac69bde329584570506c7c78b9af">reset</a> ();</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00108"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_c_c_p_segmentation.html#a097a5b8996de53f1d955747eacbc8e8e">  108</a></span>&#160;      <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a097a5b8996de53f1d955747eacbc8e8e">setInputSupervoxels</a> (<span class="keyword">const</span> std::map&lt;uint32_t, <span class="keyword">typename</span> pcl::Supervoxel&lt;PointT&gt;::Ptr&gt; &amp;supervoxel_clusters_arg,</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;                           <span class="keyword">const</span> std::multimap&lt;uint32_t, uint32_t&gt; &amp;label_adjacency_arg)</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      {</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        <span class="comment">// Initialization</span></div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a6336316795782b93b5caef627f2c4051">prepareSegmentation</a> (supervoxel_clusters_arg, label_adjacency_arg);  <span class="comment">// after this, sv_adjacency_list_ can be used to access adjacency list</span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a0ebcf3b12da8ec8ff9029a4bc77292b6">supervoxels_set_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      }</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a8ef6896e6fabc91e26f7f9dfff757753">segment</a> ();</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a73b148531688cdb949bb9185e6ada8e9">relabelCloud</a> (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZL&gt;</a> &amp;labeled_cloud_arg);</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_c_c_p_segmentation.html#ac07470079debf27fbd456e57995c4c2d">  129</a></span>&#160;      <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#ac07470079debf27fbd456e57995c4c2d">getSegmentToSupervoxelMap</a> (std::map&lt;uint32_t, std::set&lt;uint32_t&gt; &gt;&amp; segment_supervoxel_map_arg)<span class="keyword"> const</span></div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a428e19cb5f6711c7d2e20f31472a876a">grouping_data_valid_</a>)</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        {</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;          segment_supervoxel_map_arg = <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#af38c9be4e674843ba21de27b73ca0189">seg_label_to_sv_list_map_</a>;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        }</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        {</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;          PCL_WARN (<span class="stringliteral">&quot;[pcl::LCCPSegmentation::getSegmentMap] WARNING: Call function segment first. Nothing has been done. \n&quot;</span>);</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;          segment_supervoxel_map_arg = std::map&lt;uint32_t, std::set&lt;uint32_t&gt; &gt; ();</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        }</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      }</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00145"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_c_c_p_segmentation.html#ac99912aeb217065259bff30d7d526a35">  145</a></span>&#160;      <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#ac99912aeb217065259bff30d7d526a35">getSupervoxelToSegmentMap</a> (std::map&lt;uint32_t, uint32_t&gt;&amp; supervoxel_segment_map_arg)<span class="keyword"> const</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a428e19cb5f6711c7d2e20f31472a876a">grouping_data_valid_</a>)</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        {</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;          supervoxel_segment_map_arg = <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#afb6ff37d270e3f16c69c46560a1fafce">sv_label_to_seg_label_map_</a>;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        }</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        {</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;          PCL_WARN (<span class="stringliteral">&quot;[pcl::LCCPSegmentation::getSegmentMap] WARNING: Call function segment first. Nothing has been done. \n&quot;</span>);</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;          supervoxel_segment_map_arg = std::map&lt;uint32_t, uint32_t&gt; ();</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        }</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      }</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00161"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_c_c_p_segmentation.html#af5753af2e6779ce28ddc3ae6c137893d">  161</a></span>&#160;      <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#af5753af2e6779ce28ddc3ae6c137893d">getSegmentAdjacencyMap</a> (std::map&lt;uint32_t, std::set&lt;uint32_t&gt; &gt;&amp; segment_adjacency_map_arg)</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      {</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a428e19cb5f6711c7d2e20f31472a876a">grouping_data_valid_</a>)</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        {</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;          <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a7f426262406a9f9cec6248cdfa5a205c">seg_label_to_neighbor_set_map_</a>.empty ())</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;            <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a6a3d6ce5b725f4ba8989654bcb94c1e5">computeSegmentAdjacency</a> ();</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;          segment_adjacency_map_arg = <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a7f426262406a9f9cec6248cdfa5a205c">seg_label_to_neighbor_set_map_</a>;</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        }</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;        {</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;          PCL_WARN (<span class="stringliteral">&quot;[pcl::LCCPSegmentation::getSegmentAdjacencyMap] WARNING: Call function segment first. Nothing has been done. \n&quot;</span>);</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;          segment_adjacency_map_arg = std::map&lt;uint32_t, std::set&lt;uint32_t&gt; &gt; ();</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        }</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      }</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      </div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00179"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_c_c_p_segmentation.html#ac4d9e71e46c6be921687146b33e9deed">  179</a></span>&#160;      <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#ac4d9e71e46c6be921687146b33e9deed">getConcavityToleranceThreshold</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a90f2ad90bee047f31f2c9ad4f3b0c158">concavity_tolerance_threshold_</a>);</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      }</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      </div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00187"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_c_c_p_segmentation.html#aed49f8015934b23055f2d307a8ee9f01">  187</a></span>&#160;      <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#aed49f8015934b23055f2d307a8ee9f01">getSVAdjacencyList</a> (SupervoxelAdjacencyList&amp; adjacency_list_arg)<span class="keyword"> const</span></div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a428e19cb5f6711c7d2e20f31472a876a">grouping_data_valid_</a>)</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        {</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;          adjacency_list_arg = <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#adff367bb7eab2ec652da194f36ad2ab4">sv_adjacency_list_</a>;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        }</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        {</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;          PCL_WARN (<span class="stringliteral">&quot;[pcl::LCCPSegmentation::getSVAdjacencyList] WARNING: Call function segment first. Nothing has been done. \n&quot;</span>);</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;          adjacency_list_arg = pcl::LCCPSegmentation&lt;PointT&gt;::SupervoxelAdjacencyList ();</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        }</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      }</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      </div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00203"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_c_c_p_segmentation.html#abc2b7be596c2785fb8664922bbca7177">  203</a></span>&#160;      <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#abc2b7be596c2785fb8664922bbca7177">setConcavityToleranceThreshold</a> (<span class="keywordtype">float</span> concavity_tolerance_threshold_arg)</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      {</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a90f2ad90bee047f31f2c9ad4f3b0c158">concavity_tolerance_threshold_</a> = concavity_tolerance_threshold_arg;</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      }</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00214"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_c_c_p_segmentation.html#a391f12ac00e266066391bbff3fd1d823">  214</a></span>&#160;      <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a391f12ac00e266066391bbff3fd1d823">setSmoothnessCheck</a> (<span class="keywordtype">bool</span> use_smoothness_check_arg,</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;                          <span class="keywordtype">float</span> voxel_res_arg,</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;                          <span class="keywordtype">float</span> seed_res_arg,</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;                          <span class="keywordtype">float</span> smoothness_threshold_arg = 0.1)</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;      {</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a6c58a7748116a2fa0e9d820ffadb718a">use_smoothness_check_</a> = use_smoothness_check_arg;</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;        <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a0998d8eabad97e8dbc57973b28d4b389">voxel_resolution_</a> = voxel_res_arg;</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;        <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#aa9f7011e99af9d3849937ff5370c2e11">seed_resolution_</a> = seed_res_arg;</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;        <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#aa4b03eeae0ef4422a5e49b41455a098d">smoothness_threshold_</a> = smoothness_threshold_arg;</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      }</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00228"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_c_c_p_segmentation.html#afcbcd533f01655310bec5f17c5213c65">  228</a></span>&#160;      <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#afcbcd533f01655310bec5f17c5213c65">setSanityCheck</a> (<span class="keyword">const</span> <span class="keywordtype">bool</span> use_sanity_criterion_arg)</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;      {</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a728844e11f8848c7400d7875bae92800">use_sanity_check_</a> = use_sanity_criterion_arg;</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;      }</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00236"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_c_c_p_segmentation.html#affa15262ca3f2713ee31412d88697d36">  236</a></span>&#160;      <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#affa15262ca3f2713ee31412d88697d36">setKFactor</a> (<span class="keyword">const</span> uint32_t k_factor_arg)</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      {</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;        <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#ab56b15cb177706d688e6773368e123e2">k_factor_</a> = k_factor_arg;</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      }</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;      </div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00244"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_c_c_p_segmentation.html#a700734f0f748fdda3110c7924232e9c9">  244</a></span>&#160;      <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a700734f0f748fdda3110c7924232e9c9">setMinSegmentSize</a> (<span class="keyword">const</span> uint32_t min_segment_size_arg)</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;      {</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;        <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a3cbd29b0450bed2d70257ab13bf5bf38">min_segment_size_</a> = min_segment_size_arg;</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;      }</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160; </div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160; </div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;      <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a7f0ada4d9a4918d9dbb9e33e32b23d46">mergeSmallSegments</a> ();</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160; </div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;      <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a6a3d6ce5b725f4ba8989654bcb94c1e5">computeSegmentAdjacency</a> ();</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160; </div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;      <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a6336316795782b93b5caef627f2c4051">prepareSegmentation</a> (<span class="keyword">const</span> std::map&lt;uint32_t, <span class="keyword">typename</span> pcl::Supervoxel&lt;PointT&gt;::Ptr&gt; &amp;supervoxel_clusters_arg,</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;                           <span class="keyword">const</span> std::multimap&lt;uint32_t, uint32_t&gt; &amp;label_adjacency_arg);</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160; </div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160; </div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;      <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#ad1a810ce20594b9a9309c29f089f0d18">doGrouping</a> ();</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;      </div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;      <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a4a492a4362ba841361155407ef78c00e">recursiveSegmentGrowing</a> (<span class="keyword">const</span> VertexID  &amp;queryPointID,</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;                               <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> group_label);</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160; </div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;      <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a64ade0e74f07da2c8100a1a9d5d46e00">calculateConvexConnections</a> (SupervoxelAdjacencyList&amp; adjacency_list_arg);</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160; </div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;      <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#ad918a280410d18af75bad10b3134e5ab">applyKconvexity</a> (<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> k_arg);</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160; </div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;      <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#ab7189d3e7ad6bcb44b995664c6a0b77e">connIsConvex</a> (<span class="keyword">const</span> uint32_t source_label_arg,</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;                    <span class="keyword">const</span> uint32_t target_label_arg,</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;                    <span class="keywordtype">float</span> &amp;normal_angle);</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160; </div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160; </div>
<div class="line"><a name="l00302"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_c_c_p_segmentation.html#a90f2ad90bee047f31f2c9ad4f3b0c158">  302</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a90f2ad90bee047f31f2c9ad4f3b0c158">concavity_tolerance_threshold_</a>;</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160; </div>
<div class="line"><a name="l00305"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_c_c_p_segmentation.html#a428e19cb5f6711c7d2e20f31472a876a">  305</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a428e19cb5f6711c7d2e20f31472a876a">grouping_data_valid_</a>;</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;      </div>
<div class="line"><a name="l00308"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_c_c_p_segmentation.html#a0ebcf3b12da8ec8ff9029a4bc77292b6">  308</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a0ebcf3b12da8ec8ff9029a4bc77292b6">supervoxels_set_</a>;</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160; </div>
<div class="line"><a name="l00311"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_c_c_p_segmentation.html#a6c58a7748116a2fa0e9d820ffadb718a">  311</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a6c58a7748116a2fa0e9d820ffadb718a">use_smoothness_check_</a>;</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160; </div>
<div class="line"><a name="l00314"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_c_c_p_segmentation.html#aa4b03eeae0ef4422a5e49b41455a098d">  314</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#aa4b03eeae0ef4422a5e49b41455a098d">smoothness_threshold_</a>;</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160; </div>
<div class="line"><a name="l00317"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_c_c_p_segmentation.html#a728844e11f8848c7400d7875bae92800">  317</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a728844e11f8848c7400d7875bae92800">use_sanity_check_</a>;</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;      </div>
<div class="line"><a name="l00320"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_c_c_p_segmentation.html#aa9f7011e99af9d3849937ff5370c2e11">  320</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#aa9f7011e99af9d3849937ff5370c2e11">seed_resolution_</a>;</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160; </div>
<div class="line"><a name="l00323"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_c_c_p_segmentation.html#a0998d8eabad97e8dbc57973b28d4b389">  323</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a0998d8eabad97e8dbc57973b28d4b389">voxel_resolution_</a>;</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160; </div>
<div class="line"><a name="l00326"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_c_c_p_segmentation.html#ab56b15cb177706d688e6773368e123e2">  326</a></span>&#160;      uint32_t <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#ab56b15cb177706d688e6773368e123e2">k_factor_</a>;</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;      </div>
<div class="line"><a name="l00329"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_c_c_p_segmentation.html#a3cbd29b0450bed2d70257ab13bf5bf38">  329</a></span>&#160;      uint32_t <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a3cbd29b0450bed2d70257ab13bf5bf38">min_segment_size_</a>;</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160; </div>
<div class="line"><a name="l00333"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_c_c_p_segmentation.html#a40779a978d7208a82cc9421c4033a1e4">  333</a></span>&#160;      std::map&lt;uint32_t, bool&gt; <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a40779a978d7208a82cc9421c4033a1e4">processed_</a>;</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160; </div>
<div class="line"><a name="l00336"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_c_c_p_segmentation.html#adff367bb7eab2ec652da194f36ad2ab4">  336</a></span>&#160;      SupervoxelAdjacencyList <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#adff367bb7eab2ec652da194f36ad2ab4">sv_adjacency_list_</a>;</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160; </div>
<div class="line"><a name="l00339"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_c_c_p_segmentation.html#a6e8c0fd169543d42903904b02d36239b">  339</a></span>&#160;      std::map&lt;uint32_t, typename pcl::Supervoxel&lt;PointT&gt;::Ptr&gt; <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a6e8c0fd169543d42903904b02d36239b">sv_label_to_supervoxel_map_</a>;</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160; </div>
<div class="line"><a name="l00343"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_c_c_p_segmentation.html#afb6ff37d270e3f16c69c46560a1fafce">  343</a></span>&#160;      std::map&lt;uint32_t, uint32_t&gt; <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#afb6ff37d270e3f16c69c46560a1fafce">sv_label_to_seg_label_map_</a>;</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160; </div>
<div class="line"><a name="l00346"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_c_c_p_segmentation.html#af38c9be4e674843ba21de27b73ca0189">  346</a></span>&#160;      std::map&lt;uint32_t, std::set&lt;uint32_t&gt; &gt; <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#af38c9be4e674843ba21de27b73ca0189">seg_label_to_sv_list_map_</a>;</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160; </div>
<div class="line"><a name="l00349"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_c_c_p_segmentation.html#a7f426262406a9f9cec6248cdfa5a205c">  349</a></span>&#160;      std::map&lt;uint32_t, std::set&lt;uint32_t&gt; &gt; <a class="code" href="classpcl_1_1_l_c_c_p_segmentation.html#a7f426262406a9f9cec6248cdfa5a205c">seg_label_to_neighbor_set_map_</a>;</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160; </div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;  };</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;}</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160; </div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;<span class="preprocessor">#include &lt;pcl/segmentation/impl/lccp_segmentation.hpp&gt;</span></div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160; </div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// PCL_SEGMENTATION_LCCP_SEGMENTATION_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html">pcl::LCCPSegmentation</a></div><div class="ttdoc">A simple segmentation algorithm partitioning a supervoxel graph into groups of locally convex connect...</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:60</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_a097a5b8996de53f1d955747eacbc8e8e"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#a097a5b8996de53f1d955747eacbc8e8e">pcl::LCCPSegmentation::setInputSupervoxels</a></div><div class="ttdeci">void setInputSupervoxels(const std::map&lt; uint32_t, typename pcl::Supervoxel&lt; PointT &gt;::Ptr &gt; &amp;supervoxel_clusters_arg, const std::multimap&lt; uint32_t, uint32_t &gt; &amp;label_adjacency_arg)</div><div class="ttdoc">Set the supervoxel clusters as well as the adjacency graph for the segmentation.Those parameters are ...</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:108</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_a0998d8eabad97e8dbc57973b28d4b389"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#a0998d8eabad97e8dbc57973b28d4b389">pcl::LCCPSegmentation::voxel_resolution_</a></div><div class="ttdeci">float voxel_resolution_</div><div class="ttdoc">Voxel resolution used to build the supervoxels (used only for smoothness check)</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:323</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_a0ebcf3b12da8ec8ff9029a4bc77292b6"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#a0ebcf3b12da8ec8ff9029a4bc77292b6">pcl::LCCPSegmentation::supervoxels_set_</a></div><div class="ttdeci">bool supervoxels_set_</div><div class="ttdoc">Marks if supervoxels have been set by calling setInputSupervoxels</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:308</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_a391f12ac00e266066391bbff3fd1d823"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#a391f12ac00e266066391bbff3fd1d823">pcl::LCCPSegmentation::setSmoothnessCheck</a></div><div class="ttdeci">void setSmoothnessCheck(bool use_smoothness_check_arg, float voxel_res_arg, float seed_res_arg, float smoothness_threshold_arg=0.1)</div><div class="ttdoc">Determines if a smoothness check is done during segmentation, trying to invalidate edges of non-smoot...</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:214</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_a3cbd29b0450bed2d70257ab13bf5bf38"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#a3cbd29b0450bed2d70257ab13bf5bf38">pcl::LCCPSegmentation::min_segment_size_</a></div><div class="ttdeci">uint32_t min_segment_size_</div><div class="ttdoc">Minimum segment size</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:329</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_a40779a978d7208a82cc9421c4033a1e4"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#a40779a978d7208a82cc9421c4033a1e4">pcl::LCCPSegmentation::processed_</a></div><div class="ttdeci">std::map&lt; uint32_t, bool &gt; processed_</div><div class="ttdoc">Stores which supervoxel labels were already visited during recursive grouping.</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:333</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_a428e19cb5f6711c7d2e20f31472a876a"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#a428e19cb5f6711c7d2e20f31472a876a">pcl::LCCPSegmentation::grouping_data_valid_</a></div><div class="ttdeci">bool grouping_data_valid_</div><div class="ttdoc">Marks if valid grouping data (sv_adjacency_list_, sv_label_to_seg_label_map_, processed_) is avaiable</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:305</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_a4a492a4362ba841361155407ef78c00e"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#a4a492a4362ba841361155407ef78c00e">pcl::LCCPSegmentation::recursiveSegmentGrowing</a></div><div class="ttdeci">void recursiveSegmentGrowing(const VertexID &amp;queryPointID, const unsigned int group_label)</div><div class="ttdoc">Assigns neighbors of the query point to the same group as the query point. Recursive part of doGroupi...</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.hpp:341</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_a6336316795782b93b5caef627f2c4051"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#a6336316795782b93b5caef627f2c4051">pcl::LCCPSegmentation::prepareSegmentation</a></div><div class="ttdeci">void prepareSegmentation(const std::map&lt; uint32_t, typename pcl::Supervoxel&lt; PointT &gt;::Ptr &gt; &amp;supervoxel_clusters_arg, const std::multimap&lt; uint32_t, uint32_t &gt; &amp;label_adjacency_arg)</div><div class="ttdoc">Is called within setInputSupervoxels mainly to reserve required memory.</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.hpp:257</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_a64ade0e74f07da2c8100a1a9d5d46e00"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#a64ade0e74f07da2c8100a1a9d5d46e00">pcl::LCCPSegmentation::calculateConvexConnections</a></div><div class="ttdeci">void calculateConvexConnections(SupervoxelAdjacencyList &amp;adjacency_list_arg)</div><div class="ttdoc">Calculates convexity of edges and saves this to the adjacency graph.</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.hpp:437</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_a6a3d6ce5b725f4ba8989654bcb94c1e5"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#a6a3d6ce5b725f4ba8989654bcb94c1e5">pcl::LCCPSegmentation::computeSegmentAdjacency</a></div><div class="ttdeci">void computeSegmentAdjacency()</div><div class="ttdoc">Compute the adjacency of the segments</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.hpp:138</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_a6c58a7748116a2fa0e9d820ffadb718a"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#a6c58a7748116a2fa0e9d820ffadb718a">pcl::LCCPSegmentation::use_smoothness_check_</a></div><div class="ttdeci">bool use_smoothness_check_</div><div class="ttdoc">Determines if the smoothness check is used during segmentation</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:311</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_a6e8c0fd169543d42903904b02d36239b"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#a6e8c0fd169543d42903904b02d36239b">pcl::LCCPSegmentation::sv_label_to_supervoxel_map_</a></div><div class="ttdeci">std::map&lt; uint32_t, typename pcl::Supervoxel&lt; PointT &gt;::Ptr &gt; sv_label_to_supervoxel_map_</div><div class="ttdoc">map from the supervoxel labels to the supervoxel objects</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:339</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_a700734f0f748fdda3110c7924232e9c9"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#a700734f0f748fdda3110c7924232e9c9">pcl::LCCPSegmentation::setMinSegmentSize</a></div><div class="ttdeci">void setMinSegmentSize(const uint32_t min_segment_size_arg)</div><div class="ttdoc">Set the value min_segment_size_ used in mergeSmallSegments</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:244</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_a728844e11f8848c7400d7875bae92800"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#a728844e11f8848c7400d7875bae92800">pcl::LCCPSegmentation::use_sanity_check_</a></div><div class="ttdeci">bool use_sanity_check_</div><div class="ttdoc">Determines if we use the sanity check which tries to find and invalidate singular connected patches</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:317</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_a73b148531688cdb949bb9185e6ada8e9"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#a73b148531688cdb949bb9185e6ada8e9">pcl::LCCPSegmentation::relabelCloud</a></div><div class="ttdeci">void relabelCloud(pcl::PointCloud&lt; pcl::PointXYZL &gt; &amp;labeled_cloud_arg)</div><div class="ttdoc">Relabels cloud with supervoxel labels with the computed segment labels. labeled_cloud_arg should be c...</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.hpp:112</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_a7f0ada4d9a4918d9dbb9e33e32b23d46"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#a7f0ada4d9a4918d9dbb9e33e32b23d46">pcl::LCCPSegmentation::mergeSmallSegments</a></div><div class="ttdeci">void mergeSmallSegments()</div><div class="ttdoc">Segments smaller than min_segment_size_ are merged to the label of largest neighbor</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.hpp:171</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_a7f426262406a9f9cec6248cdfa5a205c"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#a7f426262406a9f9cec6248cdfa5a205c">pcl::LCCPSegmentation::seg_label_to_neighbor_set_map_</a></div><div class="ttdeci">std::map&lt; uint32_t, std::set&lt; uint32_t &gt; &gt; seg_label_to_neighbor_set_map_</div><div class="ttdoc">map &lt; SegmentID, std::set&lt; Neighboring segment labels&gt; &gt;</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:349</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_a8ef6896e6fabc91e26f7f9dfff757753"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#a8ef6896e6fabc91e26f7f9dfff757753">pcl::LCCPSegmentation::segment</a></div><div class="ttdeci">void segment()</div><div class="ttdoc">Merge supervoxels using local convexity. The input parameters are generated by using the SupervoxelCl...</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.hpp:87</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_a90f2ad90bee047f31f2c9ad4f3b0c158"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#a90f2ad90bee047f31f2c9ad4f3b0c158">pcl::LCCPSegmentation::concavity_tolerance_threshold_</a></div><div class="ttdeci">float concavity_tolerance_threshold_</div><div class="ttdoc">*** Parameters *** ///</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:302</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_aa4b03eeae0ef4422a5e49b41455a098d"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#aa4b03eeae0ef4422a5e49b41455a098d">pcl::LCCPSegmentation::smoothness_threshold_</a></div><div class="ttdeci">float smoothness_threshold_</div><div class="ttdoc">Two supervoxels are unsmooth if their plane-to-plane distance DIST &gt; (expected_distance + smoothness_...</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:314</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_aa9f7011e99af9d3849937ff5370c2e11"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#aa9f7011e99af9d3849937ff5370c2e11">pcl::LCCPSegmentation::seed_resolution_</a></div><div class="ttdeci">float seed_resolution_</div><div class="ttdoc">Seed resolution of the supervoxels (used only for smoothness check)</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:320</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_ab56b15cb177706d688e6773368e123e2"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#ab56b15cb177706d688e6773368e123e2">pcl::LCCPSegmentation::k_factor_</a></div><div class="ttdeci">uint32_t k_factor_</div><div class="ttdoc">Factor used for k-convexity</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:326</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_ab7189d3e7ad6bcb44b995664c6a0b77e"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#ab7189d3e7ad6bcb44b995664c6a0b77e">pcl::LCCPSegmentation::connIsConvex</a></div><div class="ttdeci">bool connIsConvex(const uint32_t source_label_arg, const uint32_t target_label_arg, float &amp;normal_angle)</div><div class="ttdoc">Returns true if the connection between source and target is convex.</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.hpp:460</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_abc2b7be596c2785fb8664922bbca7177"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#abc2b7be596c2785fb8664922bbca7177">pcl::LCCPSegmentation::setConcavityToleranceThreshold</a></div><div class="ttdeci">void setConcavityToleranceThreshold(float concavity_tolerance_threshold_arg)</div><div class="ttdoc">Set normal threshold</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:203</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_ac07470079debf27fbd456e57995c4c2d"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#ac07470079debf27fbd456e57995c4c2d">pcl::LCCPSegmentation::getSegmentToSupervoxelMap</a></div><div class="ttdeci">void getSegmentToSupervoxelMap(std::map&lt; uint32_t, std::set&lt; uint32_t &gt; &gt; &amp;segment_supervoxel_map_arg) const</div><div class="ttdoc">Get map&lt;SegmentID, std::set&lt;SuperVoxel IDs&gt; &gt;</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:129</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_ac4d9e71e46c6be921687146b33e9deed"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#ac4d9e71e46c6be921687146b33e9deed">pcl::LCCPSegmentation::getConcavityToleranceThreshold</a></div><div class="ttdeci">float getConcavityToleranceThreshold() const</div><div class="ttdoc">Get normal threshold</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:179</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_ac99912aeb217065259bff30d7d526a35"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#ac99912aeb217065259bff30d7d526a35">pcl::LCCPSegmentation::getSupervoxelToSegmentMap</a></div><div class="ttdeci">void getSupervoxelToSegmentMap(std::map&lt; uint32_t, uint32_t &gt; &amp;supervoxel_segment_map_arg) const</div><div class="ttdoc">Get map&lt;Supervoxel_ID, Segment_ID&gt;</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:145</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_ad1a810ce20594b9a9309c29f089f0d18"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#ad1a810ce20594b9a9309c29f089f0d18">pcl::LCCPSegmentation::doGrouping</a></div><div class="ttdeci">void doGrouping()</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.hpp:308</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_ad918a280410d18af75bad10b3134e5ab"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#ad918a280410d18af75bad10b3134e5ab">pcl::LCCPSegmentation::applyKconvexity</a></div><div class="ttdeci">void applyKconvexity(const unsigned int k_arg)</div><div class="ttdoc">Connections are only convex if this is true for at least k_arg common neighbors of the two patches....</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.hpp:371</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_adff367bb7eab2ec652da194f36ad2ab4"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#adff367bb7eab2ec652da194f36ad2ab4">pcl::LCCPSegmentation::sv_adjacency_list_</a></div><div class="ttdeci">SupervoxelAdjacencyList sv_adjacency_list_</div><div class="ttdoc">Adjacency graph with the supervoxel labels as nodes and edges between adjacent supervoxels</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:336</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_aed49f8015934b23055f2d307a8ee9f01"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#aed49f8015934b23055f2d307a8ee9f01">pcl::LCCPSegmentation::getSVAdjacencyList</a></div><div class="ttdeci">void getSVAdjacencyList(SupervoxelAdjacencyList &amp;adjacency_list_arg) const</div><div class="ttdoc">Get the supervoxel adjacency graph with classified edges (boost::adjacency_list).</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:187</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_af38c9be4e674843ba21de27b73ca0189"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#af38c9be4e674843ba21de27b73ca0189">pcl::LCCPSegmentation::seg_label_to_sv_list_map_</a></div><div class="ttdeci">std::map&lt; uint32_t, std::set&lt; uint32_t &gt; &gt; seg_label_to_sv_list_map_</div><div class="ttdoc">map &lt;Segment Label, std::set &lt;SuperVoxel Labels&gt; &gt;</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:346</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_af5753af2e6779ce28ddc3ae6c137893d"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#af5753af2e6779ce28ddc3ae6c137893d">pcl::LCCPSegmentation::getSegmentAdjacencyMap</a></div><div class="ttdeci">void getSegmentAdjacencyMap(std::map&lt; uint32_t, std::set&lt; uint32_t &gt; &gt; &amp;segment_adjacency_map_arg)</div><div class="ttdoc">Get map &lt;SegmentID, std::set&lt;Neighboring SegmentIDs&gt; &gt;</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:161</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_af5a6ac69bde329584570506c7c78b9af"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#af5a6ac69bde329584570506c7c78b9af">pcl::LCCPSegmentation::reset</a></div><div class="ttdeci">void reset()</div><div class="ttdoc">Reset internal memory.</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.hpp:74</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_afb6ff37d270e3f16c69c46560a1fafce"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#afb6ff37d270e3f16c69c46560a1fafce">pcl::LCCPSegmentation::sv_label_to_seg_label_map_</a></div><div class="ttdeci">std::map&lt; uint32_t, uint32_t &gt; sv_label_to_seg_label_map_</div><div class="ttdoc">Storing relation between original SuperVoxel Labels and new segmantion labels.</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:343</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_afcbcd533f01655310bec5f17c5213c65"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#afcbcd533f01655310bec5f17c5213c65">pcl::LCCPSegmentation::setSanityCheck</a></div><div class="ttdeci">void setSanityCheck(const bool use_sanity_criterion_arg)</div><div class="ttdoc">Determines if we want to use the sanity criterion to invalidate singular connected patches</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:228</div></div>
<div class="ttc" id="aclasspcl_1_1_l_c_c_p_segmentation_html_affa15262ca3f2713ee31412d88697d36"><div class="ttname"><a href="classpcl_1_1_l_c_c_p_segmentation.html#affa15262ca3f2713ee31412d88697d36">pcl::LCCPSegmentation::setKFactor</a></div><div class="ttdeci">void setKFactor(const uint32_t k_factor_arg)</div><div class="ttdoc">Set the value used for k convexity. For k&gt;0 convex connections between p_i and p_j require k common n...</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:236</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="astructpcl_1_1_l_c_c_p_segmentation_1_1_edge_properties_html"><div class="ttname"><a href="structpcl_1_1_l_c_c_p_segmentation_1_1_edge_properties.html">pcl::LCCPSegmentation::EdgeProperties</a></div><div class="ttdoc">Edge Properties stored in the adjacency graph.</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:63</div></div>
<div class="ttc" id="astructpcl_1_1_l_c_c_p_segmentation_1_1_edge_properties_html_a1bd0d5ead3de76d2c8a176efd2487970"><div class="ttname"><a href="structpcl_1_1_l_c_c_p_segmentation_1_1_edge_properties.html#a1bd0d5ead3de76d2c8a176efd2487970">pcl::LCCPSegmentation::EdgeProperties::normal_difference</a></div><div class="ttdeci">float normal_difference</div><div class="ttdoc">Desribes the difference of normals of the two supervoxels being connected</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:65</div></div>
<div class="ttc" id="astructpcl_1_1_l_c_c_p_segmentation_1_1_edge_properties_html_a2019dc002e81da842dbdc308d8f65a94"><div class="ttname"><a href="structpcl_1_1_l_c_c_p_segmentation_1_1_edge_properties.html#a2019dc002e81da842dbdc308d8f65a94">pcl::LCCPSegmentation::EdgeProperties::is_convex</a></div><div class="ttdeci">bool is_convex</div><div class="ttdoc">Desribes if a connection is convex or concave</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:68</div></div>
<div class="ttc" id="astructpcl_1_1_l_c_c_p_segmentation_1_1_edge_properties_html_a5e7a249bef617250c7e0ada74af413a4"><div class="ttname"><a href="structpcl_1_1_l_c_c_p_segmentation_1_1_edge_properties.html#a5e7a249bef617250c7e0ada74af413a4">pcl::LCCPSegmentation::EdgeProperties::is_valid</a></div><div class="ttdeci">bool is_valid</div><div class="ttdoc">Describes if a connection is valid for the segment growing. Usually convex connections are and concav...</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:71</div></div>
<div class="ttc" id="astructpcl_1_1_l_c_c_p_segmentation_1_1_edge_properties_html_a9dd633d8da9ebedceae89d3361359d77"><div class="ttname"><a href="structpcl_1_1_l_c_c_p_segmentation_1_1_edge_properties.html#a9dd633d8da9ebedceae89d3361359d77">pcl::LCCPSegmentation::EdgeProperties::used_for_cutting</a></div><div class="ttdeci">bool used_for_cutting</div><div class="ttdoc">Additional member used for the CPC algorithm. If edge has already induced a cut, it should be ignored...</div><div class="ttdef"><b>Definition:</b> lccp_segmentation.h:74</div></div>
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